Paper deals with derivation of mathematical relationships of dry friction force versus relative velocity in friction contact of two bodies. It is focused on such main types of dry friction characteristics, which frequently occur in dynamic mechanical systems. New models of modified Coulomb friction law and spring - friction elements are determined. For easy application in computing programs used in technical practice and based on linear equations, the equivalent linear stiffness and damping expressions are formulated and analysed in detail. and Obsahuje seznam literatury